Non-probabilistic cellular automata-enhanced stereo vision simultaneous localization and mapping
2011 (English)In: Measurement science and technology, ISSN 0957-0233, E-ISSN 1361-6501, Vol. 22, no 11, 114027- p.Article in journal (Refereed) Published
In this paper, a visual non-probabilistic simultaneous localization and mapping (SLAM) algorithm suitable for area measurement applications is proposed. The algorithm uses stereo vision images as its only input and processes them calculating the depth of the scenery, detecting occupied areas and progressively building a map of the environment. The stereo vision-based SLAM algorithm embodies a stereo correspondence algorithm that is tolerant to illumination differentiations, the robust scale- and rotation-invariant feature detection and matching speeded-up robust features method, a computationally effective v-disparity image calculation scheme, a novel map-merging module, as well as a sophisticated cellular automata-based enhancement stage. A moving robot equipped with a stereo camera has been used to gather image sequences and the system has autonomously mapped and measured two different indoor areas.
Place, publisher, year, edition, pages
2011. Vol. 22, no 11, 114027- p.
area measurement, cellular automata, robot exploration, SLAM, stereo vision, Calculation scheme, Feature detection and matching, Image sequence, Moving robots, Non-probabilistic, Rotation invariant, Simultaneous localization and mapping, Simultaneous localization and mapping algorithms, SLAM algorithm, Stereo cameras, Stereo correspondences, Vision based, Algorithms, Geodesy, Image matching, Pattern recognition systems, Robotics, Robots, Surveying
Computer Vision and Robotics (Autonomous Systems)
IdentifiersURN: urn:nbn:se:kth:diva-50983DOI: 10.1088/0957-0233/22/11/114027ISI: 000296563500028OAI: oai:DiVA.org:kth-50983DiVA: diva2:463184
QC 201112092011-12-082011-12-082011-12-09Bibliographically approved